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lh9171338 avatar lh9171338 commented on June 12, 2024

pose是AprilTag中心点在相机坐标系下的3D坐标，即代码中的Pc；相机坐标系到无人机坐标系有一个旋转和平移，代码中使用的公式为：Pu = Rcuav * Pc + Tcuav，其中Pc为AprilTag中心点在相机坐标系下的3D坐标，Pu为AprilTag中心点在无人机坐标系下的3D坐标，Rcuav 和 Tcuav分别为相机在无人机坐标系下的朝向和位置（3D坐标），具体的Rcuav与无人机云台的roll、pitch、yaw角有关，同时Rcuav与Tcuav的计算与2个坐标系的设定也有关，代码中的设定为相机坐标系xyz轴朝向为右下前，无人机坐标系xyz轴朝向为前左上

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